Diff: main.cpp

Revision:

3:c06b4a48e08a

Parent:

1:c83539e7f8a0

Child:

4:28c613b8345b

--- a/main.cpp	Wed Jun 22 21:31:17 2016 +0000
+++ b/main.cpp	Fri Jul 01 03:38:09 2016 +0000
@@ -1,4 +1,14 @@
 #include "mbed.h"
+#include "TextLCD.h"
+
+# define ON  1
+# define OFF 0
+////////////////********Definitions***********///////
+DigitalOut led_red(LED_RED);
+DigitalOut led_green(LED_GREEN);
+DigitalOut led_blue(LED_BLUE);
+
+Serial pc(USBTX, USBRX);
 
 DigitalOut in1(PTC3);
 DigitalOut in2(PTC2);
@@ -7,40 +17,80 @@
 DigitalOut in3(PTD1);
 DigitalOut in4(PTD2);
 PwmOut     enb(PTD3);
+////////////////*************************//////////////
 
+////////////****Prototype Functions*******//////////
+void stop1(void);
+void stop2(void);
+void turnLeft1(void);
+void turnLeft2(void);
+void turnRight1(void);
+void turnRight2(void);
+////////////////*************************//////////////
 
 int main()
 {
+    pc.baud(115200);
+    pc.printf("Peristaltic pumps FRDM-K64F board.\n");
     while (true) {
     /////******MOTOR 1****////
-        // Detiene el motor
-        in1 = 0; 
-        in2 = 0;
-        wait(0.5f);
-        // Gira en sentido 1 con velocidad 50%
-        in1 = 1;
-        in2 = 0;
-        ena.write(0.50f);
-        wait(0.5f);
-        // Gira en sentido 2 con velocidad 100%
-        in1 = 0;
-        in2 = 1;
-        ena.write(1.00f);
-        wait(0.5f);
+       
+        stop1();                     //Stop motor
+        wait(2.0f);
+        turnLeft1();                // Gira en sentido 1
+        ena.write(0.50f);           //Velocidad 50%
+        wait(2.0f);
+       turnRight1();                // Gira en sentido 2 
+        ena.write(1.00f);           // Velocidad 100%
+        wait(2.0f);
         
     /////******MOTOR 2****////
-       in3 = 0; 
-        in4 = 0;
-        wait(0.5f);
-        // Gira en sentido 1 con velocidad 50%
-        in3 = 1;
-        in4 = 0;
-        ena.write(0.50f);
-        wait(0.5f);
-        // Gira en sentido 2 con velocidad 100%
-        in3 = 0;
-        in4 = 1;
-        ena.write(1.00f);
+      stop2();
+        wait(2.0f);
+        turnRight2();              // Gira en sentido 1 
+        enb.write(0.50f);          //velocidad 50%
+        wait(2.0f);
+        turnLeft2();                // Gira en sentido 2
+        enb.write(1.00f);           //velocidad 100%
         wait(0.5f);
     }
+}
+
+///////////////***********FUNCTIONS***********************//////////////
+void stop1(void) {
+ led_red = ON;
+  in1 = OFF; 
+  in2 = OFF;
+  //wait(0.5f);
+}
+
+void stop2(void) {
+ led_green = ON;
+  in3 = OFF; 
+  in4 = OFF;
+  //wait(0.5f);
+}
+
+void turnLeft1() {
+    led_blue = ON;
+    in1 = OFF;
+    in2 = ON;      
+}
+
+void turnLeft2() {
+    led_green = ON;
+    in3 = OFF;
+    in4 = ON;
+}
+
+void turnRight1() {
+    led_red = ON;
+    in1 = ON;
+    in2 = OFF;   
+}
+
+void turnRight2() {
+ led_green = ON;
+  in3 = ON;
+  in4 = OFF;    
 }
\ No newline at end of file